ee_cart_imped_control Documentation

ee_cart_imped_control: ee_cart_imped_control

A force/impedance controller.

This controller executes trajectories for force/impedance control of the end effector of a chain of joints. Each point on the trajectory specifies either a wrench or a stiffness for each Cartesian degree of freedom as well as a Cartesian position and orientation. For a degree of freedom, if a stiffness is specified, the controller will attempt to reach the position given with that stiffness. If a wrench is specified, the position information is ignored. The controller linearly interpolates between the position of trajectory points, but not the force/stiffness.

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ee_cart_imped_control
Author(s): Mario Bollini, Jenny Barry, and Huan Liu
autogenerated on Sun Jan 5 2014 11:14:41